CN115356965B - Loose coupling real-package data acquisition device and data processing method - Google Patents
Loose coupling real-package data acquisition device and data processing method Download PDFInfo
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Abstract
A loose coupling mounting data acquisition device comprises a chassis sensing module, an upper mounting sensing module, a weapon sensing module and a summarizing transmission module. The invention adopts a communication mode combining wired transmission and wireless transmission, and adopts a loose coupling mode of physically independent and logically interconnected to acquire the position and posture of equipment chassis, upper package and weapon and view image data in the training process in real time. The acquired chassis position and posture, loading position and posture, weapon position and posture and equipment sighting information are transmitted to a simulation system in real time at a uniform frequency.
Description
Technical Field
The present invention relates to a data acquisition device for ground vehicle equipment, and from the coupling relation, coupling generally comprises tight coupling, loose coupling and non-coupling, while the present invention relates to a loose coupling mounting data acquisition device; the technical field belongs to the field of LVC-based simulation technical support.
Background
With the continuous deepening of the combined combat background, military training has the development characteristics of expansion, multi-domain and limitation, but the conventional method for developing simple large-scale practical exercises is impractical, the typical problems of large consumption, difficult organization, difficult assessment of boundary conditions and the like are very remarkable, and a new model of the practical exercises is changed by using a virtual-real combination mode.
The current army carries out practical training mainly by utilizing a laser fight system and a simulation target, and has the main technical defects of low precision, incapability of expanding the test scale by utilizing a virtual means, incapability of carrying out a large-scale dynamic virtual-real test, excessively single type of collected data and low data precision. The invention can effectively improve the precision of the data acquired in the training process of the real-load, provide richer real-load data types, and can be transmitted to various simulation systems as required through the data transmission interface so as to support and develop virtual-real fusion simulation tests.
In the published patent Liu Kongbing real-world anti-training system, the Hua like company provides a real-world anti-training system, but the data acquisition part only has a receiving function and can not actively acquire various data required by simulation; zhou Yuhang of army soldier colleges indicates in a paper of "research on in-service assessment data acquisition and processing method of equipment", that means of in-service assessment data acquisition of the current army mainly comprises historical data acquisition, on-site data acquisition and simulation data acquisition, wherein the on-site data acquisition mainly relies on a manual recording mode to carry out real data acquisition, and the acquired data cannot be synchronized with a simulation system in the same space and time.
Furthermore, in the prior art, chinese patent application, publication No.: CN108447077a discloses a system for collecting and analyzing gesture information of a horse-riding rider, which comprises a sensing node motion information collecting module arranged at each characteristic part of the rider, a sink node module for processing motion information of each node, a wireless data transmission module for realizing communication with an upper computer, and a 3D human motion tracking PC interface for reconstructing the gesture of the rider. The system can realize real-time capturing and calculating of three-dimensional posture information of a rider through the sensing nodes, and realize real-time data driving of a three-dimensional human model through a wireless communication mode, so that the model can reconstruct the movement posture of the rider in the horse operation process. CN104235618A relates to a pipe mapping and defect positioning device based on MEMS inertial measurement unit and a pipe mapping and defect positioning method thereof. The pipeline mapping and defect positioning device based on the MEMS inertial measurement unit comprises a measurement unit, a correction unit, a defect detection unit, a power supply unit and a data processing and storage unit. Compared with the prior invention, paper and the like, the MEMS inertial measurement unit has lower cost, wider pipe diameter application range and minimum 60mm besides autonomy. The MEMS inertial measurement unit is combined with the odometer, the fluxgate magnetometer and the ultrasonic detection device, so that the pipeline mapping problem that the fixed-point magnetic mark is not paved is solved, meanwhile, the defect position information is detected and marked, and convenience is brought to the maintenance and reinforcement of the pipeline defect. The mileage wheels are simultaneously connected with the power generation device, so that the problem caused by external power supply is avoided. CN105850773a live pig posture monitoring device and method based on micro inertial sensor, the device includes information acquisition module for acquiring individual information of live pig; the gesture resolving module is used for carrying out fusion filtering on the information acquired by the information acquisition module and outputting a gesture angle; the invention saves packaging space, updates attitude information by adopting a four-order Dragon-Gerdostat optimization algorithm, compensates gyroscope drift by utilizing an accelerometer and a magnetometer through a dynamic Kalman filtering model, realizes the complementary advantages of the gyroscope attitude and the accelerometer and the magnetometer attitude measurement, and improves the accuracy and reliability of the system dynamic measurement. However, the above-mentioned prior art is different from the technical field of the present invention, and secondly, the collected data is different due to the different positions of the collected objects, so that the collected data cannot be applied to the practice, and technical teaching cannot be given.
CN110095116a discloses a positioning method based on LIFT for combining visual positioning and inertial navigation, which firstly uses a Kinect camera to complete information acquisition of an image, thereby obtaining surrounding scene information of the image, then uses LIFT depth network architecture to process, obtain relevant parameters and simultaneously realize visual positioning, and meanwhile, a gyroscope and an accelerometer arranged on a motion carrier are required to measure angular velocity, acceleration, triaxial velocity, spatial position and three attitude angles, thereby realizing inertial navigation relevant positioning; finally, fusion calibration is carried out on data measured based on a LIFT depth network architecture and data measured by inertial navigation, and finally combined positioning based on LIFT visual positioning and inertial navigation is realized, so that an optimal pose track result is obtained; LIFT is a new deep network architecture that can simultaneously bring together three steps of feature detection, direction estimation and feature description of images, and accomplish these three problems in a unified manner while maintaining end-to-end scalability.
CN105607106a relates to a low-cost high-precision BD/MEMS fusion attitude measurement method, which belongs to the technical field of navigation. The MEMS inertial sensor module includes a three-axis accelerometer, a three-axis gyroscope and a three-axis magnetometer. The BD receiver module includes 2 antennas, one integrated BD navigation chip. In the method, a carrier attitude angle is solved according to MEMS inertial sensor information, then an AFM (ambiguity function method) algorithm is assisted to solve integer ambiguity, and finally BD/MEMS fusion attitude measurement is realized through an extended Kalman filter.
CN104898681a adopts a four-rotor aircraft attitude acquisition method of three-order approximate pichia quaternion, comprising the following steps: 1) The gesture is calculated according to the third-order approximate Picard quaternion, so that the integral accumulation error of a gyroscope is avoided, and the differential amplification of noise is reduced; 2) And carrying out Kalman filtering on the calculated attitude angle, so that the sensor measurement error caused by the vibration of the body of the quadrotor aircraft is effectively eliminated, and a more accurate attitude angle is obtained.
CN112683267a discloses a vehicle-mounted attitude estimation method with GNSS speed vector assistance, which belongs to the navigation field. Firstly, checking GNSS speed by using a gyroscope and an accelerometer, compensating motion acceleration by sliding a recursive window, and fusing gyroscope and accelerometer data in a first-stage filtering; then, using GNSS speed to check magnetic field interference in the magnetometer model, and fusing magnetometer data in a second-stage filtering; and finally, establishing a GNSS speed observation vector pair equation, and establishing a roll/roll-yaw constraint equation to complete third-stage filtering. The cascade indirect Kalman filter structure is designed, and the cascade indirect Kalman filter structure is applicable to synchronization and asynchronization of different sensors, and each stage of updating enables the linearization of a measuring model of the next stage to be more accurate. The cross check between the measuring sensors is beneficial to error compensation and correction. The invention realizes the maximization of the GNSS speed vector information value in the whole process.
In addition, although the prior art technologies such as CN111983660a, CN108168548A, CN108957510a, CN103090870a, CN109931926A, CN109459044A, CN109084745A, CN109253726A, CN111076722A, CN109099913a are similar to the technical field of the present invention, the prior art technologies cannot collect the position and posture of the equipment chassis, the upper package and the weapon and the viewing image data in real time in a physically independent and logically interconnected loose coupling manner in the training process.
However, in the prior art, the functions of the method are not that the position, the posture, the sighting and the weapon firing information of the equipment are collected, the information is transmitted to an external simulation system through a summarizing transmission module at a uniform frequency, the interconnection and the data fusion of a plurality of sensors are not realized through a loose coupling mode, the weapon sighting image of the equipment is collected through an image sensor, and the collected data is transmitted through the summarizing transmission module.
In short, the skilled person cannot derive technical teaching according to the above prior art by combining common knowledge in the field, and apply the teaching to the present invention to solve the technical problem to be solved by the present invention.
Disclosure of Invention
Combat vehicles are generally composed of a chassis, a top-loading, weapon devices. In order to ensure the consistency of the installation and the simulation agent in the parallel simulation deduction process, the chassis, the upper installation and the weapon device are required to be measured and collected separately.
The invention aims to acquire high-precision positioning and attitude data of a real chassis and a top-loading in real time in a loose coupling mode in a real-loading exercise, acquire high-precision positioning and attitude data of a direct aiming weapon system, and output the real data required by carrying out virtual-real combination simulation test at a uniform frequency through a designed data bus integrated circuit.
The loose coupling mounting data acquisition device consists of a chassis sensing module, an upper mounting sensing module, a weapon sensing module and a summarizing transmission module;
1) Chassis sensing module:
the vehicle body posture acquisition module mainly comprises an inertial posture sensor and a data communication module. The system is mainly used for collecting the attitude information of the vehicle body;
2) Jacket sensing module
The MEMS sensor and the RTK fused positioning sensor are selected for uploading positioning and gesture data acquisition, the sensor model is the Hua-Ji CGI610, the positioning accuracy is higher, the data refreshing rate is faster, and the gesture information is output while the positioning information is output.
3) Weapon sensing module
The sighting and weapon signal acquisition module consists of a power supply, an analog sighting camera, an inertial weapon attitude sensor, a weapon firing signal acquisition device and the like.
4) Summarizing transmission module
The summarizing transmission module consists of a level conversion circuit, an MCU, a bus interface module and a communication module. The level converting circuit converts the 24V level signal into TTL level signal input to MCU, the bus interface is reserved to the equipment with conditional access bus interface, and the MCU transmits the summarized data to virtual-real combination simulation computer via communication interface in unified frequency.
The invention also discloses a loose coupling mounting data acquisition and processing method, which comprises a chassis sensing data acquisition and processing method; the uploading sensing data acquisition and processing method; the weapon sensing data acquisition and processing method; the collecting and processing method of summarized transmission data; the method is characterized in that: 1) The chassis sensing data acquisition and processing method comprises the following steps: the system is used for collecting and processing the posture information of the vehicle body; the method is based on the fact that a high-precision inertial sensing combination built-in MEMS accelerometer and MEMS gyroscope acquire acceleration and angular velocity information of an equipment chassis, attitude calculation is carried out through a quaternion algorithm, position coordinate information and attitude information of the chassis are output, and data are transmitted to a summarizing transmission module in a wireless transmission mode through a data communication module;
2) The uploading sensing data acquisition and processing method comprises the following steps: the method is based on the fact that a high-precision inertial sensing combination built-in MEMS accelerometer, MEMS gyroscope and RTK positioning equipment collect acceleration and angular velocity information uploaded by equipment, kalman filtering algorithm processing is carried out, position coordinate information and attitude information uploaded by the equipment are output, and data are transmitted to a summarizing transmission module in a wired transmission mode through a data communication module;
3) The weapon sensing data acquisition and processing method comprises the following steps: the method is based on the MEMS accelerometer and the MEMS gyroscope which are built in the high-precision inertial sensing combination to acquire acceleration and angular velocity information of a weapon part of equipment, and the satellite navigation data is used for carrying out Kalman filtering algorithm processing to output position coordinate information and attitude information of the weapon part; the method comprises the steps of obtaining image information of equipment visual angles through an observing camera, and transmitting data to a summarizing transmission module in a wired transmission mode through a data communication module.
4) The collecting and processing method for summarized transmission data comprises the following steps: the method realizes data processing through a level conversion circuit, an MCU, a bus interface module and a communication module; the bus interface is reserved for equipment with conditional access to the bus interface, and the MCU transmits summarized data to the virtual-real combination simulation computer through the communication interface at a uniform frequency.
Advantageous effects
The invention adopts a communication mode combining wired transmission and wireless transmission, and adopts a loose coupling mode of physically independent and logically interconnected to acquire the position and posture of equipment chassis, upper package and weapon and view image data in the training process in real time.
And transmitting the acquired chassis position and posture, loading position and posture, weapon position and posture and equipment sighting information to a simulation system in real time at a uniform frequency and coordinates.
Drawings
FIG. 1 is a diagram of the components of a loosely coupled, packaged data acquisition device. The loose coupling mounting data acquisition device consists of a chassis sensing module, an upper mounting sensing module, a weapon sensing module and a summarizing and transmitting module.
Fig. 2 is a diagram of chassis sensing module composition, consisting of MEMS attitude sensor and data transmission module.
FIG. 3 is a schematic diagram of an on-board sensor module, a high-precision MEMS integrated navigation system.
FIG. 4 is a diagram of a weapon sensing module composed of an AHRS attitude sensor and an sighting camera.
Fig. 5 is a diagram showing the composition of the summary transmission module, which consists of a power supply, a level conversion circuit, an MCU and a bus interface module.
FIG. 6 is a block diagram of the location of a loosely coupled, assembled data acquisition device with a chassis sensing module mounted to an equipment chassis section, a top loading sensing module mounted to an equipment top loading section, a weapon sensing module mounted to a left side of an equipment weapon station, and a summary transmission module mounted to a right side of the equipment weapon.
FIG. 7 is a schematic diagram of the operation of a loosely coupled, packaged data acquisition device, with chassis sensing module, upper package sensing module, weapon sensing module transmitting acquired information to a summary transmission module, and communicating to a simulation system.
Fig. 8 is a schematic diagram of data acquisition and processing of the chassis sensing module.
Fig. 9 is a schematic circuit diagram of a summary transmission module.
Detailed Description
From a coupling relationship, coupling generally includes tight coupling, loose coupling, and uncoupling. Loosely coupled is a term of art of computer science. The invention adopts a loose coupling mode to integrate various high-precision sensing devices, develops data acquisition and filtering program codes, designs a data summarizing integrated circuit and transmits data to a simulation system in a unified frequency band.
We look at two more prior art:
CN114526731a discloses an inertial integrated navigation direction positioning method based on a power-assisted vehicle. In order to solve the problem that the existing navigation method can not provide continuous stable heading information for the moped, the invention comprises the following steps: selecting a carrier and a navigation coordinate system, defining a gesture course angle, performing self-checking coarse alignment on the sensor, and initializing a gesture quaternion and a gesture matrix according to the gesture course angle; the attitude update is carried out, an attitude update period is set, and the attitude quaternion at the current moment is calculated according to the attitude quaternion at the previous moment and the angular speed output by the gyro at the current moment; acquiring a gesture course angle of the carrier at the current moment through the gesture quaternion at the current moment; estimating a state vector of the system by using Kalman filtering after discretizing a continuous differential equation describing dynamic characteristics of the system; comprehensively judging according to the speed, the satellite number and the positioning precision information, and eliminating error information; and outputting sensing information after the temperature drift compensation of the gyroscope is carried out.
CN111551174a discloses a high dynamic vehicle posture estimating method based on a multi-sensor inertial navigation system, which comprises the steps of obtaining vehicle-mounted speedometer and accelerometer data, compensating the accelerometer data by using the vehicle-mounted speedometer to obtain compensated acceleration, obtaining acceleration through motion acceleration suppression processing, and obtaining an observation posture quaternion; acquiring gyroscope data, and obtaining a state estimation value of a quaternion through a quaternion differential equation by utilizing an angular velocity value output by the gyroscope; and (5) information fusion of multiple sensors is carried out through the extended Kalman, and final attitude angle information is output. Therefore, the influence of the motion acceleration on the posture estimation can be eliminated, and the observation posture quaternion can be obtained. And establishing a quaternion-based attitude estimation filtering equation, thereby completing high-precision calculation of the vehicle attitude, complementing navigation information output in a GPS-free state and providing necessary information of an autonomous navigation system of the vehicle. However, this prior art differs from the present invention in that: the invention is mainly used for collecting the position, posture, sighting and weapon firing information of the equipment, and can be transmitted to an external simulation system through a summarizing transmission module at uniform frequency. The method mainly comprises the steps of realizing interconnection and data fusion of multiple sensors in a loose coupling mode, collecting weapon sighting images of equipment through the image sensors, and transmitting the data through a design summary transmission module.
In order to solve the deficiency in the prior art and realize the technical effect that the invention is to achieve, the invention discloses a loose coupling mounting data acquisition device, which consists of a chassis sensing module, an upper mounting sensing module, a weapon sensing module and a summarizing transmission module;
1) The chassis sensing module and the data acquisition and processing method thereof are as follows: the inertial sensor mainly comprises an inertial attitude sensor and a data communication module. The system is mainly used for collecting the posture information of the vehicle body.
The chassis sensing module acquires acceleration and angular velocity information of the equipment chassis based on the MEMS accelerometer and gyroscope built in the high-precision inertial sensor, performs gesture calculation through a quaternion algorithm, outputs position coordinate (longitude, latitude and altitude) information and gesture information (roll, pitch and heading) of the chassis, and transmits data to the summarizing transmission module in a wireless transmission mode through the data communication module.
The MEMS accelerometer acquires acceleration information of the X, Y and Z three axes of the equipment chassis, the MEMS gyroscope acquires angular velocity information of the X, Y and Z three axes of the equipment chassis, the angular velocity information is input into the gesture matrix for calculation, and the quaternion method is adopted for position calculation:
the quaternion Q is composed of real numbers Q and imaginary units i. The rotation of the carrier coordinate system and the navigation coordinate system may be represented by the quaternion above. The base of i is taken to be the same as the base of the carrier coordinate system. According to the algorithm, the strapdown matrix T expressed by the quaternion can be obtained as follows:
each element in the strapdown matrix T is a strapdown matrix element value calculated through a pitch angle, a roll angle and a course angle, and the initial value is determined during initial alignment.
The matrix form of the differential equation of the rotation quaternion is:wherein Q is a quaternion vector, and w is an angular velocity vector of x, y and z three axes.
From the above equation, the initial value of the quaternion q is needed to be solved, and the initial alignment can be usedTo obtain the initial value of the attitude angle of the carrier、/>、/>Substituting the initial value of the strapdown matrix element to obtain the initial value q of the quaternion 0 。
The invention adopts a four-order Dragon-Kutta method to update the quaternion vector value, then obtains the attitude matrix, and can obtain the attitude angle of the carrier, thus completing the attitude calculation of the chassis.
Because algorithm errors are generated during operation, the strapdown matrix can be made into a non-orthogonal matrix, and the influence of the non-orthogonal errors can be eliminated by orthogonalization of the strapdown matrix. The normalization of the quaternion is realized, which is equivalent to the orthogonalization of the strapdown matrix T. The optimal normalization of the quaternion with the minimum euclidean norm can be obtained as follows:
specific force measured by accelerometerSwitchable by matrix T>The method comprises the following steps:
after the value of the triaxial specific force information of the carrier in the navigation coordinate system is obtained, the carrier speed can be corrected through the basic equation of inertial navigation, wherein the basic equation of inertial navigation is as follows:
writing the above as a matrix form:
the instantaneous correction of the velocity V can be accomplished by differential equations, and after the velocity is obtained, the position velocity can be performed by using the obtained velocity informationIs updated according to the update of the update program. For a swimming orientation system, due to ∈ ->The calculation formula for the position rate is thus given as follows:
of the formula (I)、/>、/>The calculation can be performed by the following formula:
will initially be longitudeDimension->Azimuth angle of swimming->In the case of the carry-in, an initial position matrix can be obtained, and in the case of the subsequent navigation solution, the position rate obtained by updating is required>And solving a differential equation of the position matrix.
The solution to the differential equation of the position matrix is simpler, the solution can be achieved by using a first-order Euler method, and after the position matrix is updated, new position information of the carrier can be reversely solved according to the elements of the position matrix.
From elements of a matrix of positions，/>，/>，/>，/>Can determine the single value +.>、/>、/>Is a true value of (c). Wherein latitude->Is +.>The method comprises the steps of carrying out a first treatment on the surface of the Longitude->Is +.>Azimuth angle of playIs +.>. According to the definition domain, the longitude, latitude and azimuth angle can be determined by performing inverse trigonometric function operation according to the element values of the position matrix. The main value solving method is as follows:
and after the main value is judged, the longitude and latitude and attitude angle information of the chassis after inertia calculation can be obtained.
The data processing mode is as follows: data is transmitted after initial calibration, data filtering and compression of the sensor.
The technical effects are that: collecting position (longitude, latitude and elevation) information and attitude information (roll, pitch and heading) of equipment chassis in real time
2) Uploading sensing module and data acquisition and processing method thereof
The MEMS sensor and the RTK fused positioning sensor are selected for uploading positioning and gesture data acquisition, the sensor model is the Hua-Ji CGI610, the positioning accuracy is higher, the data refreshing rate is faster, and the gesture information is output while the positioning information is output.
The uploading sensing module collects acceleration and angular velocity information uploaded by equipment based on the MEMS sensor and the RTK fusion equipment, carries out Kalman filtering algorithm processing through satellite navigation data, outputs uploaded position coordinate (longitude, latitude and altitude) information and attitude information (roll, pitch and heading), and transmits the data to the summarizing transmission module in a wired transmission mode through the data communication module.
The working principle of the MEMS sensor (accelerometer and gyroscope) of the upper sensing part is the same as that of the chassis sensing part, and the positioning information obtained through RTK measurement is subjected to Kalman filtering processing, specifically as follows:
firstly, corresponding state equations and measurement equations are established by utilizing the respective data characteristics of a GPS and an MEMS, and filtering parameters are initialized and Kalman filtering update is carried out to obtain optimal floating solution estimation.
(1) Firstly, a state equation is constructed by utilizing MEMS and GPS information:
wherein the method comprises the steps ofFor a one-step predictive vector of the current state, the surface system estimates the state at time k +1,and F is a corresponding state transition matrix for optimal estimation of the state at the moment k.
(2) Constructing a measurement equation:
wherein the method comprises the steps ofFor a double difference observation vector established by pseudorange, doppler and carrier phase observations of the rover and reference station, H is the coefficient matrix of the measurement equation.
(3) Filtering optimal estimation:
through the establishment of a state equation and an observation equation, the optimal solution estimation of the current state can be obtained according to a standard Kalman filtering flow, single-difference ambiguity between stations is combined into double-difference ambiguity through matrix transformation, the ambiguity is fixed, floating solution information is corrected to obtain an optimal state vector, and then filtered equipment loading positioning and posture information is obtained.
The data processing mode is as follows: data is transmitted after initial calibration, data filtering and compression of the sensor.
The technical effects are that: collecting position (longitude, latitude, elevation) information and attitude information (roll, pitch, heading) of equipment uploading in real time
3) Weapon sensing module and data acquisition and processing method thereof
The sighting and weapon signal acquisition module consists of a power supply, an analog sighting camera, an inertial weapon attitude sensor, a weapon firing signal acquisition device and the like.
The weapon sensing module acquires acceleration and angular velocity information of a weapon part of equipment based on an MEMS accelerometer and a gyroscope which are built in the high-precision inertial sensor, carries out Kalman filtering algorithm processing through satellite navigation data, and outputs position coordinate (longitude, latitude and altitude) information and attitude information (roll, pitch and course) of the weapon part; the method comprises the steps of obtaining image information of equipment visual angles through an observing camera, and transmitting data to a summarizing transmission module in a wired transmission mode through a data communication module.
The weapon gesture is positioned and gesture resolved according to the acceleration and angular velocity information of an MEMS accelerometer and a gyroscope which are additionally arranged on the weapon, the measurement principle is the same as that of a chassis sensing part, RTK positioning information acquired by a uploading sensing module is utilized for coordinate calculation, RTK approximate positioning information of the weapon is obtained, and filtering processing is carried out by utilizing a combined positioning algorithm of the uploading sensing part, so that optimal estimation solution is obtained, and position and gesture information of the weapon is obtained. The viewing camera is fixed at the parallel position of the device for viewing, so that image information is obtained.
The data processing mode is as follows: the position and posture data are transmitted after the initial calibration, data filtering and compression of the sensor, and the image data acquired by the observation camera are transmitted after the initial calibration, data filtering and compression of the sensor.
The technical effects are that: acquiring position (longitude, latitude and elevation) information and attitude information (roll, pitch and heading) of equipment in real time, and acquiring image data acquired by an observing and aiming camera in real time;
4) Summarizing transmission module and data acquisition and processing method thereof
The summarizing transmission module consists of a level conversion circuit, an MCU, a bus interface module and a communication module. The level converting circuit converts the 24V level signal into TTL level signal input to MCU, the bus interface is reserved to the equipment with conditional access bus interface, and the MCU transmits the summarized data to virtual-real combination simulation computer via communication interface in unified frequency.
Principle of: the summarizing transmission module consists of a level conversion circuit, an MCU, a bus interface module and a communication module. The level converting circuit converts the 24V level signal into TTL level signal input to MCU, the bus interface is reserved to the equipment with conditional access bus interface, and the MCU transmits the summarized data to virtual-real combination simulation computer via communication interface in unified frequency.
The upper diagram is a circuit principle design diagram of the summarizing transmission module, the sighting image acquired by the sighting camera is directly transmitted to the simulation system through the image transmission radio station, the chassis sensor data are wirelessly transmitted to the summarizing transmission module through 2.4g after being resolved, the positioning information is transmitted to the MCU through the RS232 interface after being resolved, and the MCU receives the data and then transmits the data to the data transmission radio station through the RS232 interface to be transmitted to the simulation system.
The data processing mode is as follows: the chassis sensing module, the uploading sensing module and the weapon sensing module acquire chassis position and posture information, uploading position and posture information and weapon position and posture information which are processed through a time synchronization algorithm, the equipment sighting image information is converted into a coordinate format required by an unamulated system through a coordinate change algorithm, and the data are summarized and then sent to the simulation system.
The loose coupling sensing architecture designed by the invention can effectively solve the practical problem of high difficulty in acquiring state information data in the process of training and parallel simulation of the current equipment, the adopted hardware architecture and software algorithm enable the accuracy of acquired data to be obviously higher than that of the current traditional data acquisition means, and the adopted data output circuit can be set through frequency bands and can adapt to the outfield network environments with different frequencies.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. A loose coupling real-package data acquisition and processing method comprises a chassis sensing data acquisition and processing method; the uploading sensing data acquisition and processing method; the weapon sensing data acquisition and processing method; the collecting and processing method of summarized transmission data; the method is characterized in that:
1) The chassis sensing data acquisition and processing method comprises the following steps: the system is used for collecting and processing the posture information of the vehicle body; the method is based on the fact that a high-precision inertial sensor is used for combining a built-in MEMS accelerometer and a built-in MEMS gyroscope to acquire acceleration and angular velocity information of an equipment chassis, attitude calculation is carried out through a quaternion algorithm, position coordinate information and attitude information of the chassis are output, and data are transmitted to a summarizing transmission module in a wireless transmission mode through a data communication module; the MEMS accelerometer acquires acceleration information of the X, Y and Z three axes of the equipment chassis, the MEMS gyroscope acquires angular velocity information of the X, Y and Z three axes of the equipment chassis, and the angular velocity information is input into the gesture matrix for calculation; position calculation is carried out by adopting a quaternion method; quaternion Q is composed of real number Q and imaginary number unit i; the rotation of the carrier coordinate system and the navigation coordinate system is represented by the quaternion Q; taking the base of i as the same as the base of the carrier coordinate system; according to the algorithm, the strapdown matrix expressed by the quaternion is obtained as follows:
wherein, strapdown matrixEach element in the array is a strapdown matrix element value calculated through a pitch angle, a roll angle and a course angle, and an initial value is determined during initial alignment;
2) The uploading sensing data acquisition and processing method comprises the following steps: the uploading sensing data acquisition is based on that an MEMS sensor and RTK fusion device acquire acceleration and angular velocity information uploaded by equipment, kalman filtering algorithm processing is carried out through satellite navigation data, position coordinate information and attitude information of the uploading are output, and the data are transmitted to a summarizing transmission module in a wired transmission mode through a data communication module; the working principle of the MEMS sensor of the upper sensing part is the same as that of the chassis sensing part, and the positioning information obtained through RTK measurement is subjected to Kalman filtering processing, and the method comprises the following steps of:
(1) Firstly, constructing a state equation by using MEMS sensor information and RTK positioning information:
；
wherein the method comprises the steps ofFor the one-step predictive vector of the current state, surface system pair +.>Estimated value of time state +_>Is->Optimal estimation of the time of day state ∈>Is a corresponding state transition matrix;
(2) Constructing a measurement equation:
；
wherein the method comprises the steps ofDouble difference observation vectors established for pseudorange, doppler and carrier phase observations by rover and reference station, < >>A coefficient matrix for the measurement equation;
(3) Filtering optimal estimation: through the establishment of a state equation and an observation equation, the optimal solution estimation of the current state can be obtained according to a standard Kalman filtering flow, single-difference ambiguity between stations is combined into double-difference ambiguity through matrix transformation, the ambiguity is fixed, floating solution information is corrected to obtain an optimal state vector, and then filtered equipment loading positioning and attitude information is obtained;
3) The weapon sensing data acquisition and processing method comprises the following steps: the weapon sensing data acquisition is based on the built-in MEMS accelerometer and MEMS gyroscope of high-precision inertial sensing combination to acquire acceleration and angular velocity information of weapon parts of equipment, and the position coordinate information and attitude information of the weapon parts are output by performing Kalman filtering algorithm processing on satellite navigation data; acquiring image information of equipment visual angles through an observing camera, and transmitting data to a summarizing transmission module in a wired transmission mode through a data communication module; transmitting position and attitude data after initial calibration, data filtering and compression of the sensor, and transmitting image data acquired by the observation camera after initial calibration, data filtering and compression of the sensor;
4) The collecting and processing method for summarized transmission data comprises the following steps: the method realizes data processing through a level conversion circuit, an MCU, a bus interface module and a communication module; the bus interface is reserved for equipment with conditional access to the bus interface, and the MCU transmits summarized data to the virtual-real combination simulation computer through the communication interface at a uniform frequency; the observation image acquired by the observation camera is directly transmitted to the simulation system through the image transmission radio station, the chassis sensor data are wirelessly transmitted to the summarizing transmission module through 2.4g after being resolved, the positioning information is transmitted to the MCU through the RS232 interface after the information of the MEMS sensors of the uploading RTK and the weapon station are resolved, and the MCU receives the data and then transmits the data to the data transmission radio station through the RS232 interface at a uniform frequency to be transmitted to the simulation system.
2. A non-volatile storage medium comprising a stored program, wherein the program when run controls a device in which the non-volatile storage medium resides to perform the method of claim 1.
3. An electronic device comprising a processor and a memory; the memory has stored therein computer readable instructions for execution by the processor, wherein the computer readable instructions when executed perform the method of claim 1.
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